CN104128928A - Robot joint module and control method thereof - Google Patents
Robot joint module and control method thereof Download PDFInfo
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- CN104128928A CN104128928A CN201310159670.3A CN201310159670A CN104128928A CN 104128928 A CN104128928 A CN 104128928A CN 201310159670 A CN201310159670 A CN 201310159670A CN 104128928 A CN104128928 A CN 104128928A
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Abstract
The invention discloses a robot joint module and a control method thereof. Passive pieces are laminated on a speed reduction mechanism, a plurality of buffer springs are laminated on the passive pieces, and sensors are laminated on the buffer springs to form multi-laminated joint modules; and a motor is controlled to rotate in the resistance direction by using difference angles of the buffer springs to guarantee the operation safety.
Description
Technical field
The present invention relates to a kind of robot, especially relate in robot and provide flexible actuation force in order to drive the joint module of load, and control the method that joint module rotates.
Background technology
Robot possesses mobile flexibility and the accuracy of location, the characteristic also with continuous production process, in human cost under the surging and continuous environment of dispute between workers & employer, developing into gradually the strong instrument of manufacturing completed knocked down products on production line, is also that industry replaces the best sharp weapon that manpower reduces costs.
As shown in Figure 1, be the joint module sectional side view of prior art robot.The joint module 1 of prior art robot, is mainly partly connected on same rotating shaft 6 by motor (Motor) 2, encoder (Encoder) 3, decelerator (Reducer) 4 and transmission mechanism (transmission) 5 etc. and forms.Wherein motor 2 provides powered rotation rotating shaft 6, is located at the encoder 3 of motor 2 rear sides, by the rotation of detecting motor 2, notes down the rotational angle of rotating shaft 6.Decelerator 4 utilizes the reducing gears such as planetary gear (Planetary gear) or harmonious gear (Harmonic gear), reduce the rotating speed of motor 2 drive shafts 6, with the lower rotational speed transmission mechanism 5 of output, then provide the suitable translational speed of robot to drive load by transmission mechanism 5.By the rotational angle of detecting encoder 3 record rotating shafts 6, the position that just accurately control moves.
The robot of prior art utilizes joint module 1 outputting power to drive article to precalculated position, as encounter compared with the article of heavy load or operating personnel, when being obstructed and cannot being rotated further, though can utilize sensor (not shown) to detect obstacle and Jin Ji Brake car, stop joint module 1 and rotate, avoid damaging article or injury operating personnel.
Yet, the motor 2 of joint module 1, encoder 3, decelerator 4 and transmission mechanism 5, sequentially side by side tandem compound in rotating shaft 6, form the joint module 1 of the huger and Heavy Weight of volume, the not only bulky mobile flexibility that is unfavorable for robot, and occupy the too much space of production line, it is relatively strong that Heavy Weight forms mobile inertia, and be unfavorable for the running fix of industry robot.In addition, joint module 1 rigidity drives larger article, and as inertia continues to move, the joint module 1 of the robot stopping, will face the danger that is extruded destruction, and the operating personnel who is weighed wounded also cannot push away the joint module 1 stopping operating out of danger.Therefore, the joint module of robot, in structure and control, still has problem urgently to be resolved hurrily.
Summary of the invention
The object of the present invention is to provide a kind of joint module of robot, by the joint module of multiple intussusception, reduce volume and the weight of joint module, to increase robot, move flexibility.
In order to reach the object of aforementioned invention, the joint module of robot of the present invention, hollow at shell is inner, fixing motor rotating shaft, rotational angle by encoder detecting rotating shaft, the rotational speed Passive part that decelerator changes output is rotated in rotating shaft, Passive part is nested in the periphery of reducing gear, one end of a plurality of buffer springs is fixed on Passive part, be nested in the periphery of Passive part, drive flange is provided with a plurality of through holes, partial through holes connects one end of buffer spring along with rotation, and the through hole of part connects load, sensor is nested in the periphery of buffer spring, and be fixed on shell, rotational angle with detecting drive flange.
Another object of the present invention is providing a kind of joint module of robot, utilizes transpostion interval that a plurality of buffer springs that form individual layer are set, and the quantity of mat buffer spring, adjusts the cushion effect that default joint module is subject to extraneous drag, so that safe buffering space to be provided.
In order to reach the object of aforementioned invention, the joint module of robot of the present invention, arranges a plurality of buffer spring transpostion intervals the circle sleeve that forms individual layer, and by selecting the quantity of buffer spring, adjusts the cushion effect that default joint module is subject to extraneous drag.
Still a further object of the present invention is providing a kind of control method of joint module of robot, utilizes the buffer spring of joint module, according to the joint module of complying with drag control rotary machine people, avoids damaging joint module and operating personnel, to guarantee job safety.
In order to reach the object of aforementioned invention, the control method of the joint module of first embodiment of the invention robot, the first rotational angle of the motor of detecting; Change the rotational angle that the rotational angle of motor is Passive part; The rotational angle of detecting drive flange; Calculate the difference angle of the rotational angle of drive flange and the rotational angle of Passive part; Check that difference angle is not more than bumper angle, continue detecting, check that difference angle is greater than bumper angle, control motor and with motor, comply with the direction of drag, the direction that is exactly difference angle generation turns to default security standpoint, then stops revolution.
In order to reach the object of aforementioned invention, the control method of the joint module of second embodiment of the invention robot, the rotational angle of the motor of another detecting; The rotational angle of detecting drive flange; Calculate the difference angle of the rotational angle of drive flange and the rotational angle of motor; Check that difference angle is not more than bumper angle, continue detecting, check that difference angle is greater than bumper angle, control the direction that motor produces with difference angle and turn to default security standpoint; Then stop revolution.
Accompanying drawing explanation
The sectional side view of the joint module of Tu1Wei prior art robot;
The stereogram of the joint module of Tu2Wei robot of the present invention;
The parts explosion of the joint module of Tu3Wei robot of the present invention;
The sectional side view of the joint module of Tu4Wei robot of the present invention;
The schematic diagram of the joint module buffering of Tu5Wei robot of the present invention;
The flow chart of the joint module control method of Tu6Wei first embodiment of the invention robot;
The flow chart of the joint module control method of Tu7Wei second embodiment of the invention robot.
Symbol description
10 joint modules
11 shells
12 stiff ends
13 outputs
14 motors
15 encoders
16 decelerators
17 transmission mechanisms
18 cables
19 rotating shafts
20 reducing gears
21 Passive parts
22 buffer springs
23 sensors
24 drive flanges
25 bearing caps
26 through holes
27 bearings
28 bolts
The specific embodiment
Relevant the present invention is for reaching above-mentioned purpose, and the technological means adopting and effect thereof, hereby lift preferred embodiment, and it is as follows to coordinate accompanying drawing to be illustrated.
Please refer to Fig. 2, Fig. 3 and Fig. 4, the stereogram of the joint module of Tu2Wei robot of the present invention, the parts explosion of the joint module of Tu3Wei robot of the present invention, the sectional side view of the joint module of Tu4Wei robot of the present invention.The joint module 10 of robot of the present invention has the shell 11 of a hollow, and shell 11 one end are stiff end 12, and the other end is output 13.The hollow inside of shell 11 holds motor 14, encoder 15, decelerator 16 and transmission mechanism 17 etc.Wherein motor 14 is fixed on the stiff end 12 of shell 11, by cable 18, connects outside electric power, and powered rotation rotating shaft 19 is provided.Be located at the encoder 15 of motor 14 rear sides, by the rotation of detecting motor 14, note down the rotational angle of rotating shaft 19.Decelerator 16 is fixed on the inside of shell 11, and is connected to the rotating shaft 19 of motor 14 front sides, by rotating shaft 19, drives decelerator 16 to rotate.Decelerator 16 utilizes the reducing gears 20 such as planetary gear or harmonious gear, changes the rotating speed of rotating shaft 19 outputs, to export lower rotational speed Passive part 21.Passive part 21 is cylindrical cap shape, is nested in the periphery of columned reducing gear 20, drives the transmission mechanism 17 linking to rotate.
The transmission mechanism 17 of joint module 10 comprises buffer spring 22, sensor 23, drive flange 24 and bearing cap 25 etc.Wherein buffer spring 22 is circle sleeve, is nested in the periphery of cylindrical cap shape Passive part 21.Buffer spring 22 one end are fixed on Passive part 21, with Passive part 21, rotate, and the other end is connected to drive flange 24.Transmission mechanism 17 comprises a plurality of buffer springs 22, utilizes the quantity of buffer spring 22, adjusts the cushion effect that joint module 10 is subject to extraneous drag.Each buffer spring 22 transpostion interval arranges and forms single circle sleeve, and individual layer is set in the periphery of Passive part 21, to reduce the volume of intussusception.Sensor 23 is loop shaped, and interior ring is nested in the periphery of buffer spring 22 again, and is close to buffer spring 22 by one end of drive flange 24, and the outer shroud of sensor 23 is fixed on the medial surface of shell 11, in order to detect the rotational angle of drive flange 24.
Drive flange 24 is one discoid, and card is provided with a plurality of through holes 26, and partial through holes 24 connects one end of buffer springs 22, makes drive flange 24 along with buffer spring 22 rotates, and the through hole 26 of part can connect output loading (not shown), to rotate load.The periphery ring of drive flange 24 is established bearing 27, and utilizes bolt 28 through bearing cap 25, bearing cap 25 is locked in to the output 13 of shell 11, and bearing 27 is fixed on to shell 11, to support drive flange 24, rotates.
Referring again to Fig. 4, when the joint module 10 of robot of the present invention starts, cable 18 is by outside supply motor 14 electric power rotating shafts 19.By the encoder 15 that is located at motor 14 rear sides, the rotational angle of detecting and record rotating shaft 19.The decelerator 16 that is fixed on shell 11 is rotated in mat rotating shaft 19.Decelerator 16 utilizes reducing gear 20, reduces the rotating speed of rotating shaft 19 outputs, to rotate Passive part 21.The Passive part 21 of cylindrical cap shape is nested in the periphery of columned reducing gear 20, and buffer spring 22 one end of a plurality of circle tubuloses are fixed on Passive part 21, transpostion interval arranges and forms single circle sleeve, individual layer is nested in the periphery of Passive part 21 again and rotates with Passive part 21, the other end of buffer spring 22 drives drive flange 24 to rotate, to rotate load.The sensor 23 of the rotational angle of detecting drive flange 24 is nested in again the periphery of buffer spring 22 again.
Therefore, the joint module of robot of the present invention, just can pass through the multiple intussusceptions of member such as reducing gear, Passive part, buffer spring and sensor, and utilize transpostion interval that a plurality of buffer springs that form individual layer are set, simplify joint module structure, reduce volume and the weight of joint module, and then reduce the inertia of joint module, reach increase robot and move the object of flexibility.And can adjust the cushion effect that default joint module is subject to extraneous drag by selecting the quantity of buffer spring, reach suitable safe buffering space.
Please refer to Fig. 4 and Fig. 5, the schematic diagram of the joint module of Tu5Wei robot of the present invention buffering.The joint module 10 of robot of the present invention, by motor 14 rotating shafts 19, reduces the rotational speed Passive part 21 of rotating shaft 19 outputs through decelerator 16, can be designed by gear ratio therebetween, obtains motor 14 to the fixing deceleration ratio of Passive part 21.Therefore the rotational angle of the rotating shaft 19 of encoder 15 detectings and record motor 14, calculates via fixing deceleration ratio, can be exchanged into the rotational angle of Passive part 21.Passive part 21 mat buffer springs 22 rotate drive flange 24, at drive flange 24, rotate load when not interrupted, drive flange 24 is along with Passive part 21 rotates, the rotational angle of the drive flange 24 of sensor 23 detectings is synchronizeed with the rotational angle of the Passive part 21 of encoder 15 detectings, and both rotational angles are consistent.
Once drive flange 24 rotates load and is obstructed, or be under pressure when static and push movement, be attached at the drive flange 24 and Passive part 21 at buffer spring 22 two ends, to force buffer spring 22 to reverse, allow the rotational angle F of drive flange 24 of sensor 23 detectings and the rotational angle M of the Passive part 21 of encoder 15 detectings produce difference, difference angle θ.Under obstacle or pressure are not got rid of, the difference angle θ of the rotational angle of the Passive part 21 of the rotational angle of the drive flange 24 of sensor 23 detectings and encoder 15 detectings is by increasing, forcing buffer spring 22 to strengthen reverses, the cushion space that provides the joint module 10 of robot to remove barriers, in order to avoid the lasting rotational power of joint module 10 is by robot or barrier damage.
But buffer spring 22 also has torsion quantitative limitation, excessive cushion space cannot be provided, as do not removed barriers in time or pressure, finally still can damage robot or barrier.Therefore 10 pairs of cushion spaces of joint module of the present invention are arranged restriction L, default bumper angle β.When being obstructed or being static, drive flange 24 rotation loads are squeezed, when the difference angle θ of the rotational angle of the Passive part 21 of the rotational angle of the drive flange 24 of sensor 23 detectings and encoder 15 detectings is greater than bumper angle β, the drag that joint module 10 stops drive flange 24 to rotate adjustment disorder, the direction that namely difference angle θ produces, control motor 14 and comply with the direction rotation of drag, rotate Passive part 21 to default security standpoint △ α, stop again revolution, avoid damaging joint module, allow article or the operating personnel of extrusion automatically out of danger simultaneously, to guarantee job safety.
As shown in Figure 6, be the flow chart of the joint module control method of first embodiment of the invention robot.The step of the joint module of control of the present invention, is described in detail as follows: step S1 first, the rotational angle of the motor of detecting; Step S2, changes the rotational angle that the rotational angle of motor is Passive part; The rotational angle of step S3 detecting drive flange; Step S4, the difference angle θ of the calculating rotational angle of drive flange and the rotational angle of Passive part; Step S5, if check whether difference angle θ is greater than default bumper angle β difference angle θ and is not more than bumper angle β, be back to step S1 and continue detecting, if difference angle θ is greater than default bumper angle β, to step S6, controlling motor and comply with the direction of drag, is exactly that the direction producing with difference angle θ is rotated, and turns to default security standpoint α; Then to step S7, stop revolution.
As shown in Figure 7, be the flow chart of the joint module control method of second embodiment of the invention robot.Though front embodiment is with drive flange and the Passive part at buffer spring two ends in joint module, as the calculating basis of difference angle △ θ.But motor reduces the rotational speed Passive part of rotating shaft through decelerator, motor, to the fixing deceleration ratio of Passive part, has corresponding rotational angle therebetween.Therefore can detect and note down by encoder the rotational angle of motor, replace the rotational angle of Passive part, to simplify the step S2 of aforementioned conversion.The step of the joint module of second embodiment of the invention control, is described in detail as follows: step T1 first, the rotational angle of the motor of detecting; Step T2, the rotational angle of detecting drive flange; Step T3, the difference angle of the calculating rotational angle of drive flange and the rotational angle of motor; Step T4, if check whether difference angle is greater than bumper angle β difference angle and is not more than bumper angle β, be back to step T1 and continue detecting, if difference angle is greater than bumper angle β, to step T5, control motor and comply with the direction rotation of drag, the direction producing with difference angle exactly turns to default security standpoint α; Then to step T6, stop revolution.
Therefore, the control method of the joint module of robot of the present invention, can utilize the buffer spring of joint module, the cushion space of encountering obstacle is provided, and when exceeding bumper angle, control motor is complied with drag and rotated a security standpoint, reach and avoid damaging joint module, and allow article or operating personnel automatically be out of danger, reach the object of guaranteeing job safety.
As described above, be only that scope of the present invention is not limited to these preferred embodiments in order to convenient explanation preferred embodiment of the present invention, and all any changes of doing according to the present invention, in not departing under spirit of the present invention, all belong to the scope of the present patent application patent.
Claims (9)
- The joint module of 1.Yi Zhong robot, has a shell, and the hollow inside of this shell comprises:Motor, is fixed on this shell, and powered rotation rotating shaft is provided;Encoder, detects the rotational angle of this rotating shaft;Decelerator, is rotated by this rotating shaft, utilizes rotating speed that reducing gear changes this rotating shaft output to rotate Passive part, and this Passive part is nested in the periphery of reducing gear;A plurality of buffer springs, one end is fixed on this Passive part along with rotation, is nested in the periphery of this Passive part;Drive flange, is provided with a plurality of through holes, and partial through holes connects one end of this buffer spring along with rotation, and the through hole of part connects load; AndSensor, is loop shaped, and interior ring is nested in the periphery of this buffer spring, and outer shroud is fixed on the medial surface of this shell, to detect the rotational angle of this drive flange.
- 2. the joint module of robot as claimed in claim 1, wherein this Passive part is cylindrical cap shape, is nested in the periphery of columned reducing gear.
- 3. the joint module of robot as claimed in claim 1, wherein the plurality of buffer spring transpostion interval arranges the circle sleeve that forms individual layer.
- 4. the joint module of robot as claimed in claim 1, wherein this drive flange is one discoid, in card, establishes the plurality of through hole.
- 5. the joint module of robot as claimed in claim 1, wherein the quantity of this buffer spring to select, adjusts the cushion effect that default joint module is subject to extraneous drag.
- The control method of the joint module of 6.Yi Zhong robot, the Passive part of this joint module and drive flange are connected to the two ends of buffer spring, by motor, through decelerator, rotate Passive part, and the step of its control method comprises:(1) rotational angle of the motor of detecting;(2) change the rotational angle that the rotational angle of motor is Passive part;(3) rotational angle of detecting drive flange;(4) calculate the difference angle of the rotational angle of drive flange and the rotational angle of Passive part;(5) check whether difference angle is greater than bumper angle, if difference angle is not more than bumper angle, is back to step (1) and continues detecting, if difference angle is greater than bumper angle, to step (6);(6) direction that control motor produces with difference angle turns to default security standpoint;(7) stop revolution.
- 7. the control method of the joint module of robot as claimed in claim 6, the rotational angle of this motor wherein, mat motor reduces rotational speed Passive part through decelerator and has fixing deceleration ratio, is converted to the rotational angle of Passive part.
- 8. the control method of the joint module of robot as claimed in claim 6, the direction that wherein this difference angle produces is the direction that motor is complied with drag.
- The control method of the joint module of 9.Yi Zhong robot, the motor of this joint module drives buffer spring to rotate drive flange through decelerator, and the step of its control method comprises:(1) rotational angle of the motor of detecting;(2) rotational angle of detecting drive flange;(3) calculate the difference angle of the rotational angle of drive flange and the rotational angle of motor;(4) check whether difference angle is greater than bumper angle, if difference angle is not more than bumper angle, is back to step (1) and continues detecting, if difference angle is greater than bumper angle, to step (5);(5) direction that control motor produces with difference angle turns to default security standpoint;(6) stop revolution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310159670.3A CN104128928A (en) | 2013-05-03 | 2013-05-03 | Robot joint module and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310159670.3A CN104128928A (en) | 2013-05-03 | 2013-05-03 | Robot joint module and control method thereof |
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| CN104128928A true CN104128928A (en) | 2014-11-05 |
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| CN201310159670.3A Pending CN104128928A (en) | 2013-05-03 | 2013-05-03 | Robot joint module and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216006A (en) * | 2015-11-05 | 2016-01-06 | 上海戴屹科技有限公司 | Robot flexible flange and robot |
| CN106003048A (en) * | 2016-07-04 | 2016-10-12 | 上海交通大学 | Robot joint based on gyroscope accelerometer and control system of robot joint |
| CN106815857A (en) * | 2015-11-27 | 2017-06-09 | 财团法人工业技术研究院 | Gesture estimation method for mobile auxiliary robot |
| CN106976083A (en) * | 2016-01-18 | 2017-07-25 | 广明光电股份有限公司 | Method for releasing brake by mechanical arm |
| CN108651048A (en) * | 2018-03-08 | 2018-10-16 | 南京太司德智能科技有限公司 | A kind of Saving cortilage for screen of trees cleaning air-robot |
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| CN102744731A (en) * | 2012-07-19 | 2012-10-24 | 北京理工大学 | Integral rotary joint and method for determining zero position of integral rotary joint |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216006A (en) * | 2015-11-05 | 2016-01-06 | 上海戴屹科技有限公司 | Robot flexible flange and robot |
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| CN106815857B (en) * | 2015-11-27 | 2021-08-06 | 财团法人工业技术研究院 | Gesture estimation method for mobile auxiliary robot |
| CN106976083A (en) * | 2016-01-18 | 2017-07-25 | 广明光电股份有限公司 | Method for releasing brake by mechanical arm |
| CN106003048A (en) * | 2016-07-04 | 2016-10-12 | 上海交通大学 | Robot joint based on gyroscope accelerometer and control system of robot joint |
| CN108651048A (en) * | 2018-03-08 | 2018-10-16 | 南京太司德智能科技有限公司 | A kind of Saving cortilage for screen of trees cleaning air-robot |
| CN108651048B (en) * | 2018-03-08 | 2023-10-20 | 南京太司德智能科技有限公司 | A protection joint for obstacle clearance aerial robot |
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Application publication date: 20141105 |